Medical apparatus system having optical fiber load sensing capability
First Claim
1. Apparatus for diagnosis or treatment of a vessel or organ, the apparatus comprising:
- a deformable body having a distal extremity;
at least two optical fiber sensors affixed within the distal extremity; and
processing logic operatively coupled to receive an output of the optical fiber sensors, the processing logic programmed to compute at multi-dimensional force vector corresponding to a contact force between the distal extremity and a tissue wall of the organ or vessel.
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Abstract
Apparatus is provided for diagnosing or treating an organ or vessel, wherein a deformable body having at least two optical fiber sensors disposed in a distal extremity thereof is coupled to processing logic programmed to compute a multi-dimensional force vector responsive to detected changes in the optical characteristics of the optical fiber sensors arising from deflection of the distal extremity resulting from contact with the tissue of the wall of the organ or vessel. The force vector may be used to facilitate manipulation of the deformable body either directly or automatically using a robotic system.
389 Citations
38 Claims
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1. Apparatus for diagnosis or treatment of a vessel or organ, the apparatus comprising:
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a deformable body having a distal extremity;
at least two optical fiber sensors affixed within the distal extremity; and
processing logic operatively coupled to receive an output of the optical fiber sensors, the processing logic programmed to compute at multi-dimensional force vector corresponding to a contact force between the distal extremity and a tissue wall of the organ or vessel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. Apparatus for diagnosis or treatment of a vessel or organ, the apparatus comprising:
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an elongated body having proximal and distal ends and a distal extremity, the distal extremity comprising a deformable material;
three optical fibers extending through the elongated body and affixed within the distal extremity so that the optical fibers are not co-planar;
at least one optical strain sensor disposed within the distal extremity and coupled to each one of the three optical fibers; and
a storage device associated with the elongated body, the storage device containing a force-strain conversion matrix that enables computation of a three-dimensional force vector corresponding to a contact force between the distal extremity and a tissue wall of the organ or vessel. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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Specification